Chapter:1 ! Brief review of fundamental concepts of vibration ! Vibration Analysis ! Analysis of Simple vibrating systems Dr. Millerjothi, BITS Pilani, Dubai Campus " Vibrations can lead to excessive deflections and failure on the machines and structures. " To reduce vibration through proper design of machines and their mountings. " To utilize profitably in several consumer and industrial applications. " To improve the efficiency of certain machining, casting, forging & welding processes. " To stimulate earthquakes for geological research and conduct studies in design of nuclear reactors. Importance of the Study of Vibration Dr. Millerjothi, BITS Pilani, Dubai Campus
" Vibrational problems of prime movers due to inherent unbalance in the engine. " Wheel of some locomotive rise more than centimeter off the track high speeds due to imbalance. " Turbines vibration cause spectacular mechanical failure. EXAMPLE OF PROBLEMS Dr. Millerjothi, BITS Pilani, Dubai Campus DISADVANTAGES
" Cause rapid wear. " Create excessive noise. " Leads to poor surface finish (eg: in metal cutting process, vibration cause chatter). " Resonance natural frequency of vibration of a machine/structure coincide with the frequency of the external excitation (eg: Tacoma Narrow Bridge 1948) Dr. Millerjothi, BITS Pilani, Dubai Campus Applications Dr. Millerjothi, BITS Pilani, Dubai Campus Basic Concepts of Vibration ! Vibration = any motion that repeats itself after an interval of time.
! Vibratory System consists of: 1) spring or elasticity 2) mass or inertia 3) damper
! Involves transfer of potential energy to kinetic energy and vice versa. Dr. Millerjothi, BITS Pilani, Dubai Campus ! Degree of Freedom (d.o.f.) = min. no. of independent coordinates required to determine completely the positions of all parts of a system at any instant of time ! Examples of single degree-of-freedom systems: Basic Concepts of Vibration Dr. Millerjothi, BITS Pilani, Dubai Campus Basic Concepts of Vibration ! Examples of single degree-of-freedom systems: Dr. Millerjothi, BITS Pilani, Dubai Campus Basic Concepts of Vibration ! Examples of Two degree-of-freedom systems: Dr. Millerjothi, BITS Pilani, Dubai Campus Basic Concepts of Vibration ! Examples of Three degree of freedom systems: Dr. Millerjothi, BITS Pilani, Dubai Campus Basic Concepts of Vibration ! Example of Infinite number of degrees of freedom system:
! Infinite number of degrees of freedom system are termed continuous or distributed systems. ! Finite number of degrees of freedom are termed discrete or lumped parameter systems. ! More accurate results obtained by increasing number of degrees of freedom. Dr. Millerjothi, BITS Pilani, Dubai Campus ClasslflcaLlon of vlbraLlon !Free Vibration: A system is left to vibrate on its own after an initial disturbance and no external force acts on the system. E.g. simple pendulum !Forced Vibration: A system that is subjected to a repeating external force. E.g. oscillation arises from diesel engines "Resonance occurs when the frequency of the external force coincides with one of the natural frequencies of the system Dr. Millerjothi, BITS Pilani, Dubai Campus Dr. Millerjothi, BITS Pilani, Dubai Campus !Undamped Vibration: When no energy is lost or dissipated in friction or other resistance during oscillations !Damped Vibration: When any energy is lost or dissipated in friction or other resistance during oscillations !Linear Vibration: When all basic components of a vibratory system, i.e. the spring, the mass and the damper behave linearly Dr. Millerjothi, BITS Pilani, Dubai Campus Damped and Undamped vibrations Dr. Millerjothi, BITS Pilani, Dubai Campus ! Nonlinear Vibration: If any of the components behave nonlinearly ! Deterministic Vibration: If the value or magnitude of the excitation (force or motion) acting on a vibratory system is known at any given time ! Nondeterministic or random Vibration: When the value of the excitation at a given time cannot be predicted Dr. Millerjothi, BITS Pilani, Dubai Campus ! Examples of deterministic and random excitation: Dr. Millerjothi, BITS Pilani, Dubai Campus Harmonic motion ! Periodic Motion: motion repeated after equal intervals of time ! Harmonic Motion: simplest type of periodic motion ! Displacement (x):
! Velocity:
! Acceleration:
! " t A x 2 sin = ) 2 / sin( cos ! " " " " + = = = t A t A dt dx x ! ) ( sin sin 2 2 2 2 ! " " " " + = # = = t A t A dt x d x ! ! x x 2 ! " = ! ! Dr. Millerjothi, BITS Pilani, Dubai Campus The similarity between cyclic (harmonic) and sinusoidal motion. Dr. Millerjothi, BITS Pilani, Dubai Campus Dr. Millerjothi, BITS Pilani, Dubai Campus The trigonometric functions of sine and cosine are related to the exponential function by Eulers equation. exp(i!) = cos(!) + i sin(!) The vector P rotating at constant angular Speed " can be represented as
Where x =real component and y = imaginery component. Dr. Millerjothi, BITS Pilani, Dubai Campus Dr. Millerjothi, BITS Pilani, Dubai Campus Vibrations of several different frequencies exist simultaneously. Such vibrations result in a complex waveform which is repeated periodically as shown Dr. Millerjothi, BITS Pilani, Dubai Campus A periodic function: Harmonic Analysis Dr. Millerjothi, BITS Pilani, Dubai Campus Fourier Series Expansion: If x(t) is a periodic function with periodic #, its Fourier Series representation is given by ! " = + + = + + + + + + = 1 0 2 1 2 1 0 ) sin cos ( 2 ... 2 sin sin ... 2 cos cos 2 ) ( n n n t n b t n a a t b t b t a t a a t x # # # # # # Dr. Millerjothi, BITS Pilani, Dubai Campus -Complex lourler Serles: 1he lourler serles can also be represenLed ln Lerms of complex numbers. t i t e t i t e t i t i ! ! ! ! ! ! sin cos sin cos " = + = " Also, i e e t e e t t i t i t i t i 2 sin 2 cos ! ! ! ! ! ! " " " = + = and Dr. Millerjothi, BITS Pilani, Dubai Campus -lrequency SpecLrum: Parmonlcs ploLLed as verLlcal llnes on a dlagram of ampllLude (! " and # " or $ " and % " ) versus frequency ("&). Dr. Millerjothi, BITS Pilani, Dubai Campus Even and odd functions: ! " = + = = # 1 0 cos 2 ) ( ) ( ) ( n n t n a a t x t x t x $ Lven funcLlon & lLs lourler serles expanslon Cdd funcLlon & lLs lourler serles expanslon ! " = = # = # 1 sin ) ( ) ( ) ( n n t n b t x t x t x $ Dr. Millerjothi, BITS Pilani, Dubai Campus Half-Range Expansions: 1he funcLlon ls exLended Lo lnclude Lhe lnLerval - # Lo 0 as shown ln Lhe flgure. 1he lourler serles expanslons of ' 1 (() and ' 2 (() are known as half- range expanslons. Dr. Millerjothi, BITS Pilani, Dubai Campus Example 1 Addition of Harmonic Motions Find the sum of the two harmonic motions
Solution: Method 1: By using trigonometric relations: Since the circular frequency is the same for both x 1 (t) and x 2 (t), we express the sum as ). 2 cos( 15 ) ( and cos 10 ) ( 2 1 + = = t t x t t x ! ! E.1) ( ) ( ) ( ) cos( ) ( 2 1 t x t x t A t x + = + = ! " Dr. Millerjothi, BITS Pilani, Dubai Campus That is,
That is,
By equating the corresponding coefficients of cos!t and sin!t on both sides, we obtain ( ) E.2) ( ) 2 sin sin 2 cos (cos 15 cos 10 ) 2 cos( 15 cos 10 sin sin cos cos t t t t t t t A ! ! ! ! ! " ! " ! # + = + + = # E.3) ( ) 2 sin 15 ( sin ) 2 cos 15 10 ( cos ) sin ( sin ) cos ( cos t t A t A t ! ! " ! " ! # + = # ( ) 1477 . 14 ) 2 sin 15 ( 2 cos 15 10 2 sin 15 sin 2 cos 15 10 cos 2 2 = + + = = + = A A A ! ! Dr. Millerjothi, BITS Pilani, Dubai Campus and E.5) ( 5963 . 74 2 cos 15 10 2 sin 15 tan 1 = ! " # $ % & + = ' ( Dr. Millerjothi, BITS Pilani, Dubai Campus Method 2: By using complex number representation:: the two harmonic motions can be denoted in terms of complex numbers:
The sum of x 1 (t) and x 2 (t) can be expressed as [ ] [ ] [ ] [ ] E.7) ( 15 Re Re ) ( 10 Re Re ) ( ) 2 ( ) 2 ( 2 2 1 1 + + ! = ! = t i t i t i t i e e A t x e e A t x " " " " [ ] E.8) ( Re ) ( ) ( ! " + = t i Ae t x Lxample 2 Dr. Millerjothi, BITS Pilani, Dubai Campus where A and " can be determined using the following equations
and A = 14.1477 and " = 74.5963 2 , 1 ; ) ( 2 2 = + = j b a A j j j 2 , 1 ; tan 1 = ! ! " # $ $ % & = ' j a b j j j ( Dr. Millerjothi, BITS Pilani, Dubai Campus Vibration Terminology !Definitions of Terminology: "Amplitude (A) is the maximum displacement of a vibrating body from its equilibrium position "Period of oscillation (T) is time taken to complete one cycle of motion
"Frequency of oscillation (f) is the no. of cycles per unit time ! " 2 = T ! " 2 1 = = T f Dr. Millerjothi, BITS Pilani, Dubai Campus "Natural frequency is the frequency which a system oscillates without external forces "Phase angle ($) is the angular difference between two synchronous harmonic motions ( ) ! " " + = = t A x t A x sin sin 2 2 1 1 Dr. Millerjothi, BITS Pilani, Dubai Campus "Beats are formed when two harmonic motions, with frequencies close to one another, are added Dr. Millerjothi, BITS Pilani, Dubai Campus "The peak value generally indicates the maximum stress that the vibrating part is undergoing. "The average value indicates a steady or static value. It is found from
For example, the average value of complete A sin t is zero, but of a half cycle Dr. Millerjothi, BITS Pilani, Dubai Campus "The mean square value of a time function x(t) is found from average of the squared values, integrated over some time interval T Dr. Millerjothi, BITS Pilani, Dubai Campus "ueclbel ls orlglnally deflned as a raLlo of elecLrlc powers. lL ls now ofLen used as a noLaLlon of varlous quanLl Ll es such as dl spl acemenL, vel ocl Ly, acceleraLlon, pressure, and power ! ! " # $ $ % & = ! ! " # $ $ % & = 0 0 log 20 dB log 10 dB X X P P where ) * ls some reference value of power and + * ls speclfled reference volLage. Dr. Millerjothi, BITS Pilani, Dubai Campus Problem 3 Dr. Millerjothi, BITS Pilani, Dubai Campus Solution Dr. Millerjothi, BITS Pilani, Dubai Campus Dr. Millerjothi, BITS Pilani, Dubai Campus Dr. Millerjothi, BITS Pilani, Dubai Campus Dr. Millerjothi, BITS Pilani, Dubai Campus